Firefly Optimization-Based Cooperative Localization Algorithm for Intelligent IoT

Algorithm 2

Cooperative localization algorithm based on firefly optimization. Specific flow of the cooperative localization algorithm.

	Input:
	the measured distance from the k-th anchor node to the i-th unknown node,
	the measured distance from the i-th unknown node to the j-th unknown node
	Output:
	the estimated position of the i-th unknown node
(1)	i = 1;
(2)	while all the unknown nodes’ positions have not been calculated do
(3)	calculate the initial position of the i-th unknown node using the firefly algorithm;
(4)	i = i + 1;
(5)	end
(6)	randomly initialize the fireflies;
(7)	while maximum iteration is not reached do
(8)	calculate the objective value of the firefly using formula (5)
(9)	calculate the relative brightness of fireflies using formula (6);
(10)	calculate the attraction of fireflies using formula (7);
(11)	update the position;
(12)	end